非理想网络环境下永磁同步电机转速鲁棒控制

Speed robust control of permanent magnet synchronous motor in non-ideal network environment

针对网络化控制中通信时滞条件下永磁同步电机转速控制问题,首先在网络环境下建立永磁同步电机时滞动力学模型;然后基于模型展开系统调速鲁棒控制器设计,并通过构造Lyapunov-Krasovskii函数得到系统转速控制稳定性条件,进一步利用LMI工具箱计算出相应的鲁棒控制器增益;最后为验证控制器性能,基于SimEvents搭建控制器局域网络(CAN)通信模块,引入干扰信号,以真实反映网络通信诱发的不确定性延迟,并通过MATLAB/Simulink建立基于控制器局域网络的永磁同步电机调速控制系统模型,监测电机转速、相电流及转矩,展开仿真对比分析.结果表明:在非理想网络环境下,采用所设计的调速鲁棒控制器的系统稳定性较传统PI控制器矢量控制方法有显著提高,可以满足永磁同步电机转速控制稳定性要求.

Aiming at the problem of speed robust control of permanent magnet synchronous motors under the condition of communication time delay in networked control,firstly a time delay dynamic model of permanent magnet synchronous motors was established in a network environment,by and then a system speed-control robust controller design was developed based on the model.The Lyapunov-Krasovskii function was used to obtain the stability condition of system speed control,and the corresponding robust controller gain was further calculated using the LMI toolbox.Finally,in order to verify the controller performance,a controller area network(CAN)communication module was built based on SimEvents,interference signals were introduced to truly reflect the uncertainty delay induced by network communication,and a CAN bus-based speed control system model of permanent magnet synchronous motor was established through MATLAB/Simulink.The motor speed control system model monitored the motor speed,phase current and torque,and conducted simulation and comparative ana-lysis.The results show that in a non-ideal network environment,by using the designed speed-regulating robust controller,the system stability is significantly improved compared with the traditional PI controller vector control method,which is sufficient to meet the stability requirements of permanent magnet synchronous motor speed control.